js7000 joystick family technical information manualfiles.danfoss.com/documents/l1125277.pdf · ‒...

Technical Information

JS7000Joystick Family

powersolutions.danfoss.com

http://powersolutions.danfoss.com

Revision history Table of revisions

Date Changed Rev

May 2017 Updated to Engineering Tomorrow design 0801

July 2015 Converted to Danfoss layout and connector ordering number corrected IA

January 2013 Added option code, corrected description, updated illustrations, minimum load impedance HA

September 2012 Corrected grip function options for 2 roller/slider/rocker GA

June 2012 Corrected option code and push-button grip options FA

May 2012 Addition of CAN+ EA

April 2012 New grip functions DA

June 2011 Various updates CA

May 2011 Various updates BA

March 2011 First edition AA

Technical InformationJS7000 Joystick Family

2 | © Danfoss | May 2017 L1125277 | BC00000202en-US0801

OverviewDescription..........................................................................................................................................................................................5Features and options...................................................................................................................................................................... 5

Product configuration model codeJS7000 product configuration model code............................................................................................................................ 6Base model code fields...................................................................................................................................................................7

X and Y operation or movement........................................................................................................................................... 9Grip model code fields................................................................................................................................................................. 10

Electrical optionsAnalog................................................................................................................................................................................................13CAN..................................................................................................................................................................................................... 13

J1939 messages.........................................................................................................................................................................13CANopen 2.0B, CANopen protocol.................................................................................................................................... 13Additional X and Y analog outputs.................................................................................................................................... 13Proportional roller output..................................................................................................................................................... 13

CAN+...................................................................................................................................................................................................13CAN 2.0B, J1939 protocol.......................................................................................................................................................14

J1939 messages................................................................................................................................................................... 14Output.......................................................................................................................................................................................... 14Analog and digital external inputs.....................................................................................................................................14

CAN message protocolSAE J1939 basic joystick message specifications............................................................................................................... 15

Basic joystick message 1........................................................................................................................................................ 16Basic joystick message 3........................................................................................................................................................ 17Basic joystick message (X-axis)............................................................................................................................................ 18Basic joystick message (Y-axis)............................................................................................................................................ 19

SAE J1939 extended joystick message specifications...................................................................................................... 20Extended joystick message 1............................................................................................................................................... 20Extended joystick message 3............................................................................................................................................... 21

SAE J1939 lamp command joystick message specifications..........................................................................................22Lamp command joystick message..................................................................................................................................... 22

SAE J1939 sensor electrical power 1 message specifications........................................................................................23Sensor electrical power 1 message.................................................................................................................................... 23

SAE J1939 (DM1) error messages............................................................................................................................................. 24CAN automation information....................................................................................................................................................25CANopen protocol information................................................................................................................................................25

Product installationDimensions.......................................................................................................................................................................................26Mounting panel.............................................................................................................................................................................. 27Joystick safety critical functions............................................................................................................................................... 28Machine wiring guidelines......................................................................................................................................................... 28

PinoutDigital and proportional..............................................................................................................................................................29

Digital outputs rocker options.............................................................................................................................................29Proportional analog pinouts................................................................................................................................................ 29Vertical roller with switch option........................................................................................................................................30

One 18 pin connector...................................................................................................................................................................31Pinout connections examples..............................................................................................................................................31

Mating connector

MountingGuidelines ........................................................................................................................................................................................33Mounting position.........................................................................................................................................................................34

Horizontal angle........................................................................................................................................................................34Mounting base plane.............................................................................................................................................................. 35

Grip position.................................................................................................................................................................................... 36


Contents

© Danfoss | May 2017 L1125277 | BC00000202en-US0801 | 3

Joystick and operator position..................................................................................................................................................37

SpecificationsBase electrical and environmental specifications.............................................................................................................. 38Base mechanical specifications.................................................................................................................................................39

Standard versus heavy spring torque............................................................................................................................... 39Grip trigger and push button.................................................................................................................................................... 40Grip proportional roller................................................................................................................................................................40

Proportional roller output..................................................................................................................................................... 41Grip slider..........................................................................................................................................................................................42Grip rocker switch.......................................................................................................................................................................... 43


Contents


Description

The JS7000 Joystick features a heavy duty and intuitive design specially developed to meet the harshoperating requirements of today’s mobile machines. Dual Hall effect sensing technology ensures reliablelong life performance including the most safety critical applications.

The JS7000 ergonomic left-hand and right-hand grip design options enable comfortable and efficientoperation for maximum productivity. The vertical grip is a multi-function, ergonomic grip designed for acomfortable human-machine interface with easy-to-use finger tip controls. The grip features a modulardesign that allows switch and proportional rocker location flexibility.

The JS7000 was designed after extensive research detailing operator needs from live interviews and alsoin-cab video recording. The JS7000 joystick establishes new industry standards for performance,durability, flexibility and user comfort. The PLUS+1® Compliant JS7000 is well-suited for off-highwaymachines including backhoe loaders, skid steer loaders, telehandlers, wheel loaders and dozers.

Designed for serviceability, the JS7000 minimizes down time with easy access for replacing grip functionsincluding the boot.

Features and options

• Features

‒ Hall effect sensing

‒ Two Hall effect sensors per axis for redundancy

‒ Dual axis, spring return to neutral

‒ Two centering spring force

• Output options

‒ Analog

‒ CAN 2.0B, J1939 protocol, including separate analog outputs

‒ CAN 2.0B, CANopen protocol, including separate analog outputs

‒ CAN 2.0B communication, CAN+ pin configuration

• Ergonomic vertical grip options

‒ Left hand

‒ Right hand

• Grip configuration examples

‒ Seven momentary red, black and yellow push-button combinations plus trigger switch

‒ Three proportional switches, one momentary push-button, plus trigger switch

‒ Two 3-position maintained rocker switches, one proportional roller, one momentary push-button,plus trigger switch

‒ Five momentary red, black and yellow with LED push-button combinations, one proportionalredundant roller plus trigger switch

• On axis shaft, deflection options

‒ ±20° or ±25°


Overview


The product configuration model code specifies particular features when ordering the . The model codebegins with the product family name and the remaining fields are filled in to configure the product withthe desired features.

JS7000 product configuration model code

Base

Field Feature

A Operational Axis Options

B Mechanical Options and Centering Force

C X axis detents

D Y axis detents

E Electrical output

F Electrical Interface and Source Address

G Mounting

H Boot

J Special Hardware Features

Grip

Field Feature

K Grip Type

L Faceplate

M Push-button switch 1

N Push-button switch 2

P Push-button switch 3

Q Push-button switch 4

R Push-button switch 5

S Roller/Slider/Rocker 1

T Roller/Slider/Rocker 2

U Mini-Joystick

V Push-button switch 6

W Push-button switch 7

X Roller/Slider/Rocker 3

Y Push-button switch 8

Z Operator Present

JS7000 Joystick product configuration model code

A B C D E F G H J K L M N P Q R S T U V W X Y Z

N N N N V N N N N N

JS7000 Joystick product configuration model code example

A B C D E F G H J K L M N P Q R S T U V W X Y Z

M 1 S M N N N N A 9 0 N N N T V N N V R V 2 N N N N N N N N N N P N N N N N T B T Y N N S B N


Product configuration model code


Base model code fields

Base product configuration model code

Product family name A B C D E F G H J

J S 7 0 0 0 N N N N V N N

A—Operational axis

Code Description

M1 Multi axis: ±20°

M2 Multi axis: ±25°

B—Mechanical

Code Description

SM Lever operator spring force medium range, 0.6 to 3.2 Nm with 20˚ of traveloption (M1)

Lever operator spring force medium range, 0.6 to 4.8 Nm with 25˚ of traveloption (M2)

SH Lever operator spring force heavy range, 1.1 to 4.2 Nm with 20˚ of traveloption (M1)

Lever operator spring force heavy range, 1.1 to 5.8 Nm with 25˚ of traveloption (M2)

Reference Standard versus heavy spring torque on page 39.

C—X axis force profile includes spring return, future options

Code Description

NN Standard force profile, result of options A and Option B selection

D—Y axis force profile includes spring return, future options

Code Description

NN Standard force profile, result of options A and Option B selection

E—Electrical output

Code Description

A90 Analog 10-90% output (5 Vdc supply)

CAN CAN 2.0B communication with Analog (redundant X-Y axis outputs)

CPL CAN 2.0B communication, CAN+ pin configuration

F—Electrical interface

Code Description

NNN None (used only for non-CAN electrical output options, E0NNN or E0A**)

J90 J1939 protocol, source address 0x90 (144 decimal), 250Kbs Baud Rate






F—Electrical interface (continued)

Code Description

J9C J1939 protocol, source address 0x9C (156 decimal), 250Kbs Baud Rate

K90 J1939 protocol, source address 0x90 (144 decimal), 500Kbs Baud Rate



K9C J1939 protocol, source address 0x9C (156 decimal), 500Kbs Baud Rate

P10 CANopen protocol, source address 0x10 (16 decimal), 125Kbs Baud Rate



P1C CANopen protocol, source address 0x1C (28 decimal), 125Kbs Baud Rate

N10 CANopen protocol, source address 0x10 (16 decimal), 250Kbs Baud Rate



N1C CANopen protocol, source address 0x1C (28 decimal), 250Kbs Baud Rate

G—Mounting

Code Description

T Top mount

U Top mount with decorative bezel

H—Boot

Code Description

V Vertical grip boot

J—Special hardware

Code Description

NN Standard




X and Y operation or movement

Left and right handle X and Y operation or movement (20° configuration shown)

20° 20°20° 20°

1

P200069

1. Center of pivot




Grip model code fields

Grip product configuration model code

K L M N P Q R S T U V W X Y Z

N N N

K—Grip series

Grip Code Description

VL Vertical Grip, left hand (grip functions shown are exampleonly)

VR Vertical Grip, right hand (grip functions shown areexample only)

L—Faceplate

Faceplate Code Description Grip function options

B0 Blank faceplate — —

B1 1 push-button N— —

B2 2 push-button N— —P— —

B3 3 push-button M— —N— —P— —

B4 4 push-button N— —P— —Q— —R— —

B5 5 push-button M— —N— —P— —Q— —R— —

V1 1 roller/slider/rocker* TPN

V2 2 roller/slider/rocker* SPN with TPNSHR with THRSS2 or SS3 with TS2 or TS3SK2 or SKM or SKF with TK2 or TKM or TKF

AV 1 push-button M— —

1 roller/slider/rocker* TPN

BV 2 push-button Q— —R— —

1 roller/slider/rocker T— —

CV 3 push-button M— —Q— —R— —

1 roller/slider/rocker T— —




L—Faceplate (continued)

Faceplate Code Description Grip function options

AZ 1 push-button M— —

2 roller/slider/rocker* SPN with TPN

* Currently only available with the listed grip function options.

M—Push-button switch 1 N—Push-button switch 2 P—Push-button switch 3 Q—Push-button switch 4 R—Push-button switch 5

Code Description

NN None

TB Black, momentary SPST-NO electro-mechanical push-button

TY Yellow, momentary SPST-NO electro-mechanical push-button

TR Red, momentary SPST-NO electro-mechanical push-button

TC Black, red LED, momentary SPST-NO electro-mechanical push-button

TZ Yellow, red LED, momentary SPST-NO electro-mechanical push-button

TS Red, red LED, momentary SPST-NO electro-mechanical push-button

S—Roller/Slider/Rocker 1 T—Roller/Slider/Rocker 2

Code Description Faceplate options

NN None

PN Potentiometer roller

HR Proportional roller with redundant output* LV2LBVLCV

S2 Proportional slider*

S3 3-position maintained slider (FNR)*

K2 2-position maintained rocker*

KM 3-position momentary rocker*

KF 3-position maintained rocker*

* Currently only available with the listed grip function options.

U—Mini Joystick

Code Description

NN None




V—Push-button switch 6 W—Push-button switch 7

Code Description

NN None

TB Black, momentary SPST-NO electro-mechanical push-button

TY Yellow, momentary SPST-NO electro-mechanical push-button

TR Red, momentary SPST-NO electro-mechanical push-button

X—Roller/Slider/Rocker 3

Switch Code Description

PN Proportional roller

HR Proportional roller with redundant output

K2 2-position maintained rocker

KM 3-position momentary rocker

KF 3-position maintained rocker

Y—Push-button switch 8

Switch Code Description

NN None

SB Trigger

Z—Operator Presence

Code Description

N None




Analog

The analog electrical output option gives a direct voltage output from the joystick’s shaft sensors,position switches and grip functions. No signal conditioning is performed.

CAN

The CAN joystick has one fully dedicated CAN channel and three available output options:• CAN 2.0B, J1939 protocol• CAN 2.0B, CANopen protocol• Additional X and Y analog outputs

J1939 messages

The CAN electrical output option broadcasts four J1939 messages to communicate device information:• Basic Joystick Message 1 (BJM1)• Basic Joystick Message 3 (BJM3)• Extended Joystick Message 1 (EJM1)• Extended Joystick Message 3 (EJM3)

CANopen 2.0B, CANopen protocol

The CANopen output option provides conditioned joystick output information in 2.0B, CANopenmessage protocol.

Additional X and Y analog outputs

There are two X axis outputs and two Y axis outputs on the CAN joystick. The outputs are linear withrespect to the shaft angle. The two outputs of the same axis are complimentary of each other, as theoutput voltage of one increases, the output voltage of the second decreases. The voltage output rangesfrom 0.5 to 4.5 Vdc.

Proportional roller output

+ - 0

5.04.54.03.53.02.52.01.51.00.50

P200078

Volts: 0.5 to 4.5 Vdc

Solid line: Output 1

Dashed line: Output 2

Left arrow: Direction 1 (+ travel)

Right arrow: Direction 2 (- travel)

CAN+

The CAN+ joystick has one fully dedicated CAN channel and the available option is CAN 2.0B, J1939protocol.


Electrical options


CAN 2.0B, J1939 protocol

The CAN J1939 output option provides conditioned joystick output information in 2.0B, J1039 messageprotocol.

J1939 messages

The CAN electrical output option broadcasts four J1939 messages to communicate device information:• Basic Joystick Message 1 (BJM1)• Basic Joystick Message 3 (BJM3)• Extended Joystick Message 1 (EJM1)• Extended Joystick Message 3 (EJM3)

Output

+5 Vdc sensor power rated: 250 mA

Analog and digital external inputs

The CAN+ joystick has seven digital inputs, four combination analog and digital inputs, and +5 Vdcsensor power.

External inputs Range

Digital inputs 0.0 Vdc or 5.0 Vdc

Analog or digital inputs Analog: 0.0 to 5.0 Vdc Digital: 0.0 or 5.0 Vdc


Electrical options


SAE J1939 basic joystick message specifications

The JS7000 joystick uses the SAE J1939 basic joystick message to transfer information about themeasured status of the X and Y axes of a joystick and the state of switches on the joystick grip.

Basic joystick message structure

Messagenumber

Priority Base PGN PDU format PDU specific Source address Data field

Dec hex Dec hex Dec hex Dec hex

1 3 64982 FDD6 253 FD 214 D6 The source addressdepends on positionspecified in mastermodel code.

8 bytes

3 3 64986 FDDA 253 FD 218 DA The source addressdepends on positionspecified in mastermodel code.

8 bytes

Message transmission rate: 20 ms

The resulting SAE J1939 basic joystick message PGN on the CAN bus is:

0xCFDD6 * * or 0xCFDDA * *

* = joystick source address (hex)

The data field contains the joystick’s output information. SAE J1939 data fields contain 8 bytes of data.

Information in the data field

Byte# 1 2 3 and so on

Bit# 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8


CAN message protocol


Basic joystick message 1

Parameters and data field locations

Start position (byte/bit) Length(bits)

Parameter description

1/1 2 Joystick X-axis neutral position status

1/3 2 Joystick X-axis lever left negative position status

1/5 2 Joystick X-axis lever right positive position status

1/7 through 2/1-8 10 Joystick X-axis position (Byte 1 Bit 7 is LSB. Byte 2 Bit 8 is MSB)

3/1 2 Joystick Y-axis neutral position status

3/3 2 Joystick Y-axis lever back negative position

3/5 2 Joystick Y-axis lever forward positive position

3/7 through 4/1-8 10 Joystick Y-axis position (Byte 3 Bit 7 is LSB. Byte 4 Bit 8 is MSB)

5/5 2 Joystick Y-axis detent position status

5/7 2 Joystick X-axis detent position status

6/1 2 Grip button 4 pressed status










8/5 2 Grip button 10 presses status


Data field examples

Byte 1

Bit 8 7 6 5 4 3 2 1

The 2 LSB (LeastSignificant Bit) of X-axisposition

X-axis lever rightpositive status

X-axis lever left negativeposition status

X-axis neutral positionstatus

Byte 2

Bit 8 7 6 5 4 3 2 1

MSB (Most Significant Bit) X-axis position

Byte 3

Bit 8 7 6 5 4 3 2 1

The 2 LSB (LeastSignificant Bit) of Y-axisposition status

X-axis lever forwardpositive status

Y-axis lever backnegative position status

Y-axis neutral positionstatus




Basic joystick message 3

(CAN+ models only)



Parameter description

1/1 2 Not used

1/3 2 Not used

1/5 2 Not used

1/7 through 2/1-8 10 Sensor power analog output (pin 8) value

3/1 2 Not used

3/3 2 Not used

3/5 2 Not used

3/7 through 4/1-8 10 Pin 9 analog input value

5/5 2 Not used

5/7 2 Not used

6/1 2 Pin 12 digital input pressed status








8/1 2 Not used







Basic joystick message (X-axis)

Joystick X-axis neutral position status

Description Bit status Remarks

Reports when the current joystickposition is in the neutral position forthe X-axis of travel

00 Not in neutral position

01 In neutral position

10 Error indicator

11 Not available

Joystick X-axis handle left negative position status


Reports when the current joystickposition is on the negative travel side(back, left, counterclockwise, down)relative to the neutral position for theX-axis.

00 Not on negative side of neutral

01 On negative side of neutral

10 Error indicator

11 Not available

Joystick X-axis handle right positive position status


Reports when the current joystickposition is on the positive travel side(forward, right, clockwise, up) relativeto the neutral position for the X-axis.

00 Not on positive side of neutral

01 On positive side of neutral

10 Error indicator

11 Not available

Joystick X-axis position status

Description

The position of the joystick in the relative motion of travel from the neutral position. The position value of 0 is alwaysneutral. The output range of the joystick handle at the end of travel is factory set according to the option specified inthe electrical interface options section of the master model code.

The master model code specifies that the full-scale output at the end of each linear zone will be 1000counts.

W Warning

Potential uncommanded machine movement. Per the SAE J1939-71 standard, if the JS6000 joystickinternal diagnostics detect a shaft position measurement error, the joystick output will be set to a valueof 1022 counts regardless of shaft position. Application software should be written to recognize this errorcondition to avoid the possibility of unintended machine motion.

Per the SAE J1939-71 standard, if a specific joystick axis is not available, the basic joystick message for theunavailable axis will indicate an output value of 1023 counts. Application software should be written torecognize this condition to avoid the possibility of unintended machine motion.




Basic joystick message (Y-axis)

Joystick Y-axis neutral position status


Reports when the current joystickposition is in the neutral position forthe Y-axis of travel

00 Not in neutral position

01 In neutral position

10 Error indicator

11 Not available

Joystick Y-axis handle back negative position status


Reports when the current joystickposition is on the negative travel side(back, left, counterclockwise, down)relative to the neutral position for theY-axis.

00 Not on negative side of neutral

01 On negative side of neutral

10 Error indicator

11 Not available

Joystick Y-axis handle forward positive position status


Reports when the current joystickposition is on the positive travel side(forward, right, clockwise, up) relativeto the neutral position for the Y-axis..

00 Not on positive side of neutral

01 On positive side of neutral

10 Error indicator

11 Not available

Joystick Y-axis position status

Description

The position of the joystick in the relative motion of travel from the neutral position. The position value of 0 is alwaysneutral. The output range of the joystick handle at the end of travel is factory set according to the option specified inthe electrical interface options section of the master model code.

The master model code specifies that the full-scale output at the end of each linear zone will be 1000counts.

W Warning

Potential uncommanded machine movement. Per the SAE J1939-71 standard, if the JS6000 joystickinternal diagnostics detect a shaft position measurement error, the joystick output will be set to a valueof 1022 counts regardless of shaft position. Application software should be written to recognize this errorcondition to avoid the possibility of unintended machine motion.

Per the SAE J1939-71 standard, if a specific joystick axis is not available, the basic joystick message for theunavailable axis will indicate an output value of 1023 counts. Application software should be written torecognize this condition to avoid the possibility of unintended machine motion.

Joystick button 1-8 pressed status

Bit status Remarks

00 Button not pressedl

01 Button pressed

10 Error indicator

11 Not available (no button installed)




SAE J1939 extended joystick message specifications

The JS7000 joystick uses the SAE J1939 extended joystick message to transfer information about themeasured status of up to 3 additional proportional input functions on the joystick grip, and external-to-the-joystick analog inputs. The joystick base X and Y-axis information is available in the basic joystickmessage.

Extended joystick message structure

Messagenumber


Dec hex Dec hex Dec hex Dec hex

1 3 64983 FDD7 253 FD 215 D7 The source addressdepends on positionspecified in mastermodel code.

8 bytes

3 3 64987 FDDB 253 FD 219 DB The source addressdepends on positionspecified in mastermodel code.

8 bytes


The resulting SAE J1939 extended joystick message PGN on the CAN bus is:

0xCFDD7 * * or 0xCFDDB * *


Extended joystick message 1


Start position(byte/bit)

Length(bits)

Parameter name

1/1 2 Grip X-axis neutral position status

1/3 2 Grip X-axis negative position status

1/5 2 Grip X-axis positive position status

1/7 through 2/1-8 10 Grip X-axis position

3/1 2 Grip Y-axis neutral position status

3/3 2 Grip Y-axis negative position status

3/5 2 Grip Y-axis positive position status

3/7 through 4/1-8 10 Grip Y-axis position

5/1 2 Theta-axis neutral position status

5/3 2 Theta-axis negative position status

5/5 2 Theta-axis position status

5/7 through 6/1-8 10 Theta-axis position

7/3 2 Not used

7/5 2 Not used

7/7 2 Not used




Extended joystick message 3

(CAN+ models only)


Start position(byte/bit)

Length(bits)

Parameter name

1/1 2 Not used

1/3 2 Not used

1/5 2 Not used


3/1 2 Not used

3/3 2 Not used

3/5 2 Not used


5/1 2 Not used

5/3 2 Not used

5/5 2 Not used


7/3 2 Not used

7/5 2 Not used

7/7 2 Not used

Data field descriptions and output ranges for extended joystick messages are similar to those for base Xand Y-axis basic joystick messages.

Grip proportional input naming convention

Proportional input location Extended joystick message designation

Position 1 X-axis

Position 2 Y-axis

Position 3 Theta-axis

The JS7000 joystick uses the SAE J1939 extended joystick message to transfer information about themeasured status of the grip axes of a joystick and external analog input values.




SAE J1939 lamp command joystick message specifications

The JS7000 CAN+ joystick is able to accept J1939 joystick lamp command messages to activate buttonmounted LEDs if they are available.

Lamp command joystick message structure


3 39168 (0x00900) 153 (0x99) Destination Address The source address depends onposition specified in mastermodel code.

8 bytes


If the joystick stops receiving joystick lamp command messages, all available button LEDs will beswitched off.

The resulting SAE J1939 lamp command joystick message PGN on the CAN bus is:

0xC99 * *


Lamp command joystick message



Parameter name

1/1 2 Button 1 lamp command





Button lamp command status

Bit status Remarks

00 Off

01 On

10 Blinking

11 No change or status




SAE J1939 sensor electrical power 1 message specifications

The JS7000 CAN+ joystick is able to send its sensor power voltage output using a SAE J1939 sensorelectrical power 1 (SEP1) message.

Sensor electrical power 1 message structure


6 64925 (0x00FD9D) 253 (0xFD) 157 (0x9D) The source address depends onposition specified in mastermodel code.

8 bytes


The resulting SAE J1939 sensor electrical power 1 message PGN on the CAN bus is:

0x18FD9D * *


Sensor electrical power 1 message

(CAN+ models only)


Start position (byte/bit)

Length(bytes)

Parameter name

1/1 2 Sensor power voltage 1

3/1 2 Not used

5/1 2 Not used

7/1 2 Not used




SAE J1939 (DM1) error messages

SAE J1939 DM1 error messages are supported by JS7000 software.

See the following tables for SPN (Suspect Parameter Number) and FMI (Failure Mode Identifier).

Failure: Voltage Too High

Message Axis SPN FMI

BJM1 X 2660 3

BJM1 Y 2661 3

EJM1 Grip X 2662 3

EJM1 Grip Y 2663 3

EJM1 Grip Theta 2664 3

Failure: Voltage Too Low


BJM1 X 2660 4

BJM1 Y 2661 4

EJM1 Grip X 2662 4

EJM1 Grip Y 2663 4


Failure: Input Not Calibrated


BJM1 X 2660 13

BJM1 Y 2661 13

EJM1 Grip X 2662 13

EJM1 Grip Y 2663 13


Failure: Redundant Input Failure


BJM1 X 2660 14

BJM1 Y 2661 14

EJM1 Grip X 2662 14

EJM1 Grip Y 2663 14





CAN automation information

JS7000 joysticks do not support SAE J1939 dynamic addressing, since the joystick source addresses arehard-coded (static). However, JS7000 joysticks are compliant with SAE J1939 address claiming protocol(in the unlikely event another node on the SAE J1939 bus claims an identical source address to theJS7000, the JS7000 may cease communication on the bus, depending on the message priority of theother node).

CANopen protocol information

When you want to use CANopen Joystick, go to http://powersolutions.danfoss.com/products/electronic-components/joysticks/ and click on the CANopen EDS to open CANopen Object Dictionary




http://powersolutions.danfoss.com/products/electronic-components/joysticks/

http://powersolutions.danfoss.com/products/electronic-components/joysticks/

Dimensions

Vertical grip, left hand (VL) and vertical grip, right hand (VR) dimensions in millimeters [inches]

26.0 [1.02] maximum

229.0 [9.02]

94.0 [3.7]

83.0 [3.27]

13.5 [0.5]

7.25 [0.29]

106.5 [4.19]

92.0 [3.62]

93.5 [3.68]

111.0 [4.19]

2

1

P200070

1. Mating connector (18 pin) with lead wires attached at bottom of base.

As an option, apply a thin line of dielectric grease to assist in assembly and disassembly of connector.

2. Bezel


Product installation


Mounting panel

The JS7000 is designed to be installed from the mounting panel through a 95.0 ± 0.5 (3.75 ± 0.02)opening.

Mounting panel

92.0 ± 0.2 [3.62 ± 0.01]

92±0.2 [3.62 ± 0.01]

4X 6.4 ± 0.4 [0.25 ± 0.16 ]

4X 135° ± 5°

95.0 ± 0.5 [3.74 ± 0.02]

95.0 ± 0.5 [3.74 ± 0.02]

2

1

P200071

1. 4X Ø 5.5 ± 0.2 [4X Ø 0.22 ± 0.008] or M5 threaded hole2. 8X R10 maximum

The mounting flange of the JS7000 should be connected to the vehicle chassis ground.




Joystick safety critical functions

For a system to operate safely it must be able to differentiate between commanded and uncommandedinputs. Take steps to detect and manage joystick and system failures that may cause an erroneousoutput.

For safety critical functions Danfoss recommends you use an independent momentary action systemenable switch. You can incorporate this switch into the joystick as an operator presence switch or can bea separate foot or hand operated momentary switch. Disable all joystick functions that the joystickcontrols when this switch is released.

Ensure the control system looks for the appropriate system enable switch input before the joystick isdisplaced from its neutral position. Enable functions only after receiving this input.

Applications using CAN joysticks should continuously monitor for the presence of the CAN messages onperiodic basis. Messages are to be checked frequently enough for the system or operator to react if theCAN messages lose priority or are no longer received.

Machine wiring guidelines

• Protect wires from mechanical abuse, run wires in flexible metal or plastic conduits.• Use 85˚ C (185˚ F) wire with abrasion resistant insulation and 105˚ C (221˚ F) wire should be

considered near hot surfaces.• Use a wire size that is appropriate for the module connector.• Separate high current wires such as solenoids, lights, alternators or fuel pumps from sensor and other

noise-sensitive input wires.• Run wires along the inside of, or close to, metal machine surfaces where possible, this simulates a

shield which will minimize the effects of EMI/RFI radiation.• Do not run wires near sharp metal corners, consider running wires through a grommet when

rounding a corner.• Do not run wires near hot machine members.• Provide strain relief for all wires.• Avoid running wires near moving or vibrating components.• Avoid long, unsupported wire spans.• Ground electronic modules to a dedicated conductor of sufficient size that is connected to the

battery (-).• Power the sensors and valve drive circuits by their dedicated wired power sources and ground

returns.• Twist sensor lines about one turn every 10 cm (4 in).• Use wire harness anchors that will allow wires to float with respect to the machine rather than rigid

anchors.

W Warning

Unintended movement of the machine or mechanism may cause injury to the technician or bystanders.The module will be powered up if battery voltage is applied to the module's output pin. To protectagainst unintended movement, secure the machine.

C Caution

Warranty will be voided if module is damaged.Avoid significant current driven back through an output pin.




Digital and proportional

Digital includes trigger, push-button, and rocker.

Proportional includes roller and slider.

Grip trigger switch Grip backside

Grip faceplate

Digital outputs rocker options

Grip faceplate example Grip position 3 example

Proportional analog pinouts

Proportional analog pinouts for proportional roller with redundant output (HR option)

Position 1 and/or 2 2 and 3 1 and 2 with 3

HR HR PN, S2, S3 HR

Roller Roller Roller/slider Roller

P1 P2 P2 P3 P1 P2 P3

Primaryoutput pins

3 4 4 5 3 4 5

Redundantoutput pins

5 6 6 3 * * 6

* Not applicable


Pinout


Vertical roller with switch option

Top view

4

3

1

2

4

P200107A

Front view

4 4

P200107B

1. Position 3 (X00_ _)2. Position 1 (X00_ _)3. Position 2 (X00_ _)4. Increasing output


Pinout


One 18 pin connector

18 pin DEUTSCH connector (DT16-18SB-K004)

18

6

13

1P200065

Pinouts

Analog CAN CAN+

Pinnumber

Signal name Pinnumber

Signal name Pinnumber

Signal name

1 Battery Ground 1 Battery Ground 1 Battery Ground

2 +5V 2 Battery Power 2 Battery Power

3 Proportional1* 3 CAN Hi 3 CAN Hi

4 Proportional2* 4 CAN Lo 4 CAN Lo

5 Proportional3* 5 CAN Shield 5 CAN Shield

6 Proportional4* 6 Not Connected 6 Digital Input 7

7 Digital1 7 Reference Ground 7 Sensor Ground

8 Digital2 8 Reference +5V 8 Sensor Power +5V

9 Digital3 9 Not Connected 9 Analog/Digital Input 1




13 Digital7 13 Not Connected 13 Digital Input 1

14 Digital8 14 Not Connected 14 Digital Input 2

15 Proportional Y Axis 1 15 Proportional Y Axis 1 15 Digital Input 3

16 Proportional X Axis 1 16 Proportional X Axis 1 16 Digital Input 4

17 Proportional Y Axis 2 17 Proportional Y Axis 2 17 Digital Input 5

18 Proportional X Axis 2 18 Proportional X Axis 2 18 Digital Input 6* Reference Proportional analog pinouts on page 29 for proportional roller with redundant output (HR option)

Pinout connections examples

Analog grip pinout connections example CAN and CAN+ minimum pinoutconnections example

Pinnumber

Signal number Description Pinnumber

Signal number

7 Digital1 Faceplate push-button 1 1 Battery Ground

12 Digital6 Back side push-button 6 2 Battery Power

14 Digital8 Trigger switch 3 CAN Hi

3 Proportional1 Face plate proportional1

PN, S2, S3 4 CAN Lo

5 Proportional3 Back side proportional 3 PN, S2, S3 5 CAN Shield


Pinout


Mating connector bag assembly

Description Danfoss ordering number

Mating connector bag assembly 11012648

Mating connector bag assembly contents

Description Quantity

ConnectorDEUTSCH, DT16-18SB-K004

1

TerminalsDEUTSCH, 0462-201-1631

18

The mating connector bag assembly contains loose parts you must assemble.

Danfoss mating connector

Description Quantity Danfoss ordering number

Mating connector with 400 mm(15.75 in) wire harness

1 11012646

The Danfoss mating connector with wire harness features a fully assembled connector with anunterminated wire harness.


Mating connector


Guidelines

Maintain joystick mounting position relative to operator. Prefer side control pods mounted to seat baseto allow user to set seat location relative to controls:• Joystick mounting point should height adjust with seat, and preferably move with any seat

suspension system, to keep relationship of joystick to operator.• Seat should have option to adjust fore/aft independent of joystick location for setting reach length

depending on operator size, see Image A.

The seat adjustment is the most important basic adjustment to accommodate various sized operatorreach envelopes.

• Independent height adjustment for control position relative to seat height would be an extra “nice tohave” to fine tune position for individual operator size, see Image B.

• Joystick mounting point should move with seat forward and back- for setting operator positionrelative to foot controls or change of viewing line of sight.

• Front view plane should remain horizontal. (Reference Horizontal angle on page 34, Image D for setangle of mounting plane).

• Spacing of joysticks- depends on seat width (reference Grip position on page 36, Image G forarmrests centerline):

‒ Keep joystick as close to seat as spacing allows.

‒ Adjustable spacing would optimize fit to operator.

Image A Image B


Mounting


Mounting position

Horizontal angle

JS7000 ergo shape has inboard angle set for proper wrist/hand position, see Image D.

Image D

0˚

This is based on forearm remaining parallel to mounting plane, so mounting plane should be positionedparallel to operator forearm in other operator orientations to optimize grip angle comfort, see Image E.

Image E

For smaller operators, closer is better, because the extra width causes reach envelope to expand andoutward angle presents weaker arm strength issues. For larger operators, width is needed for legs.


Mounting


Mounting base plane

JS7000 joystick ergonomic design has taken into account forward angle of grip. Do not use vendorsupplied side consoles that have forward angle to mounting surface for use with generic, straighterjoysticks, see Image C.

Image C

0˚


Mounting


Grip position

The JS7000 has optional grip positions to allow operators to vary hand position to reduce fatigue.Consider seats with adjustable arrests to adjust for optional low handgrip positions, see Image F.

Image F

Joystick axis roughly centered on armrests centerline in top view, see Image G.

Image G


Mounting


Joystick and operator position

Seating reference point (SRP) is the relative location of the seated operator's hip point.

Large operator, SRP shown in red

5—7˚

Y

Z

X

12˚

Small operator, SRP shown in red

Y

Z

X

12˚

5—7˚

Adjustment range of seat

Operator X Y Z Seat height

Large 457 to 483 mm(18 to 19 in)

622 to 660 mm(24.5 to 26 in)

121 mm (4.75 in) 432 mm (17 in)

Small 330 to 356 mm(13 to 14 in)

682 mm (24.5 in) 121 mm (4.75 in) 330 mm (13 in)

Armrest height is approximately 216 mm (8.5 in) for all operators and should be adjustable.Adjust range of seat in relation to control pod to accommodate approximately 127 mm (5 in) of travel toachieve the range of fit for control reach.


Mounting


Base electrical and environmental specifications

Electrical

Sensor type Hall Effect with redundant sensors

Resolution Infinite

Supply voltage Analog 5 ± 0.5 Vdc

CAN with redundant analogoutputs

9 to 60 Vdc

CAN+ 9 to 60 Vdc

Output Analog 0.5 to 4.5 Vdc

Minimum voltage 10% ± 4% Vs

Center voltage 50% ± 2% Vs

Maximum voltage 90% ± 4% Vs

CAN 2.0 B, J1939 and CANopen protocols

CAN+ 2.0 B, J1939

Base maximum currentconsumption

Analog 45 mA

CAN 120 mA at 9 V

CAN+ 100 mA at 9 V (without LEDs orsensor power)

Base maximum survival supplyvoltage

Analog 30 Vdc

CAN 68 Vdc

CAN+ 68 Vdc

Environmental

Operating temperature -40° C to 85° C (-40° F to 185° F)

Storage temperature -55° C to 85° C (-67° F to 185° F)

EMI/RFI rating 150 V/m

Random vibration Level 2 7.67 Grms

Shock Level 1 50 g 11 ms

Bump Level 2 40 g 6 ms

Ingress Protection (IP) rating IP 66 and 67 above and below panel


Specifications


Base mechanical specifications

Lever mechanical angle ± 20°

± 25°

Lever operating torque Medium: 0.6 to 3.2 Nm over ±20˚ of travel

Heavy: 1.1 to 4.2 Nm over ±20˚ of travel

Operating life (on each axis) > 15 million cycles

Weight (base without grip) 725 G (1.8 lb)

Horizontal load maximum(125 mm from the pivot)

1335 N (300 lbs)

Vertical load maximum 6000 N (1350 lbs)

Standard versus heavy spring torque

-5

-4

-3

-2

-1

0

1

2

3

4

5

-22 -20 -18 -16 -14 -12 -10 -8 -6 -4 -2 0 2 4 6 8 10 12 14 16 18 20 22

P200104

Vertical arrowheads: Torque (Nm)

Horizontal arrowheads: Angle (degrees)

Solid line: Heavy spring

Dashed line: Standard spring


Specifications


Grip trigger and push button

Action Momentary

Type Single pole, NO

Contact rating: Trigger A at 50 Vdc

Contact rating: Push-button A at 50 Vdc

Contact resistance Ω maximum

Push-button with LED rating A at 5 Vdc Intensity: 800 mcd

Mechanical life 3 million cycles

Ingress protection (IP) rating IP 66 and IP 67


Grip proportional roller

Proportional roller

+ -

± 42°

35.20 [1.39 ]

8.3 [0.32]

Proportional roller with redundant output mechanical travel

± 40°35.81 [1.41]

8.13 [0.32]

- +

Use proportional rollers only in closed cabin applications.

Proportional roller

Action Proportional spring return to center± 42˚ mechanical travel

Sensing Hall effect

CAN electrical output ± 0 to 1000 counts from center

Analog electrical output 0.5 to 4.5 Vdc (2.5 Vdc center)


Ingress protection (IP) rating IP 43 in closed cab use only


Proportional roller with redundant output

Action Proportional spring return to center± 40˚ mechanical travel

Sensing Hall effect

Minimum output impedance 4.7 K Ohms

CAN electrical output ± 0 to 1000 counts from center

Analog electrical output 0.5 to 4.5 Vdc (2.5 Vdc center)



Specifications


Proportional roller with redundant output (continued)

Ingress protection (IP) rating IP 43 in cab use only


Proportional roller output

+ - 0

5.04.54.03.53.02.52.01.51.00.50

P200078

Volts: 0.5 to 4.5 Vdc

Solid line: Output 1

Dashed line: Output 2

Left arrow: Direction 1 (+ travel)

Right arrow: Direction 2 (- travel)


Specifications


Grip slider

Proportional slider and 3-position maintained slider mechanical travel

± 16°

10.00 [0.39]

28.50 [1.12]

+ -

Proportional slider

Action Proportional spring return to center ± 16˚ mechanical travel

Sensing Hall effect

Electrical output

CAN ± 0 to 1000 counts from center

Analog 0.5 to 4.5 Vdc (2.5 Vdc center)


Ingress protection (IP) rating IP 66

Operating temperature -40° C to +85° C (-40° F to +185° F)

3-position maintained slider

Action Proportional 3-position (FNR) ± 16˚ mechanical travel

Sensing Hall effect

Electrical output

CAN ± 0 to 1000 counts from center

Analog 0.5 to 4.5 Vdc (2.5 Vdc center)



Operating temperature -40° C to +85° C (-40° F to +185° F)


Specifications


Grip rocker switch

Rocker switch

5.08 [0.20]7.11 [0.28]

31.75 [1.25 ]

2-position maintained rocker

Action 2-position maintained

Digital electrical output 0.0 Vdc or 5.0 Vdc, two outputs

Mechanical life 100K cycles



3-position maintained rocker

Action 3-position maintained

Digital electrical output 0.0 Vdc or 5.0 Vdc, two outputs (0.0 Vdc center)




3-position momentary rocker

Action 3-position momentary

Digital electrical output 0.0 or 5.0 Vdc, two outputs (0.0 Vdc center)





Specifications


Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic andelectronic components. We specialize in providing state-of-the-art technology and solutionsthat excel in the harsh operating conditions of the mobile off-highway market. Building onour extensive applications expertise, we work closely with our customers to ensureexceptional performance for a broad range of off-highway vehicles.

We help OEMs around the world speed up system development, reduce costs and bringvehicles to market faster.

Danfoss – Your Strongest Partner in Mobile Hydraulics.

Go to www.powersolutions.danfoss.com for further product information.

Wherever off-highway vehicles are at work, so is Danfoss. We offer expert worldwide supportfor our customers, ensuring the best possible solutions for outstanding performance. Andwith an extensive network of Global Service Partners, we also provide comprehensive globalservice for all of our components.

Please contact the Danfoss Power Solution representative nearest you.

Local address:

Danfoss Power Solutions GmbH & Co. OHGKrokamp 35D-24539 Neumünster, GermanyPhone: +49 4321 871 0

Danfoss Power Solutions ApSNordborgvej 81DK-6430 Nordborg, DenmarkPhone: +45 7488 2222

Danfoss Power Solutions (US) Company2800 East 13th StreetAmes, IA 50010, USAPhone: +1 515 239 6000

Danfoss Power Solutions Trading(Shanghai) Co., Ltd.Building #22, No. 1000 Jin Hai RdJin Qiao, Pudong New DistrictShanghai, China 201206Phone: +86 21 3418 5200

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to productsalready on order provided that such alterations can be made without changes being necessary in specifications already agreed.All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.

© Danfoss | May 2017 L1125277 | BC00000202en-US0801

Products we offer:

• Bent Axis Motors

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• Displays

• Electrohydraulic PowerSteering

• Electrohydraulics

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• Integrated Systems

• Joysticks and ControlHandles

• Microcontrollers andSoftware

• Open Circuit Axial PistonPumps

• Orbital Motors

• PLUS+1® GUIDE

• Proportional Valves

• Sensors

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